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川崎重工业株式会社90210－1083DCAKLogic/KLadder操作说明书川崎机器人控制器E系列（可选）E系列控制器KawasakiRobotKLogic/KLadder操作说明书i序言本说明书是对川崎机器人E系列控制器内置的时序控制软件KLogic和编程软件KLadder的说明。请充分理解本说明的内容，并熟读另外的安全手册和本书记载的安全事项后再进行操作。未完全理解本书的全部内容时，请不要进行任何操作。仅参考特定的某一页进行操作而造成损失等问题时，我公司不承担责任。1.由于本书不对使用机器人的系统做出保证，因此系统方面如果出现任何事故或损失、以及出现工业所有权问题时，本公司不负责任。2.从事机器人操作、运转、示教、保养检修等作业的人员，建议从本公司提供的教育培训课程中，选择所需课程进行培训学习。3.本公司可能会在不发布通知的情况下，对本文所述内容进行修订、优化或变更。4.严禁在未通知本公司的情况下，转载或复制本文所述内容的一部分或全部。5.请妥善保管此书，以便长期使用。另外，因设备转移、转让、出售等原因，使用人员发生变化时，请务必将本书与设备一起转交给新的使用人员，并向其说明应认真阅读本书。万一，本书发生破损或丢失时，请与营业窗口联系。禁止擅自转载©2009川崎重工业株式会社E系列控制器KawasakiRobotKLogic/KLadder操作说明书ii关于本书所使用的标识在本书中，对于特别需要注意的事项，采用以下标识表示。为防止人身伤害或财产损失，在充分理解使用这些标识的基础上，请遵守标识内容，正确安全地使用机器人。危险！表示如果不遵守写在这里的内容，就会发生导致人员伤亡等重大事故事故。表示如果不遵守写在这里的内容，就有可能造成人员伤亡等事故。警告！注意！表示如果不遵守写在这里的内容，就会发生人身伤害或财产损失等情况。［注记］有关机器人的规格、操作、保养等的注意事项。1.实施特定作业时，本书所使用的图例及操作方法说明等有可能不够充分，因此，实施特定操作时，请提前咨询本公司。2.本文所述的安全事项，是以与文本相关的特定项目为对象的，不适用于其他一般项目及其他项目。为实现安全作业，首先，请阅读另外的安全手册，配合国家及地方自治区的相关安全法规及规格，充分理解其内容后，再建立与贵司机器人应用内容相符的安全系统。警告！E系列控制器KawasakiRobotKLogic/KLadder操作说明书iii凡例1．操作硬键开关（按钮）E系列控制器在控制器操作板和示教器上设置有进行各种操作的硬键和开关。本手册对硬键，硬开关的名称如下所示地用方框圈起表示。此外，为了表达简便，有时省略了「・・・」键呀，「・・・」开关呀，这样的键和开关（按钮）的用词。有时同时按下2个以上的键，这个表示是用按的顺序+记号。例登录：表示「登录」硬键。示教/循环：表示切换操作面板上的「示教/循环」模式的切换开关。A＋菜单：表示按住「A」键，然后按「菜单」键。2．操作软键，开关E系列控制器中进行各种操作的软键和开关，根据规格和状况在示教器的画面上出现。本手册对软键，软开关的名称用＜・・・＞括起表示。此外，为了表达简便，有时省略了「・・・」键呀，「・・・」开关呀，这样的键和开关（按钮）的用词。例ENTER：表示在示教器画面出现的「ENTER」键。＜下一页＞：表示在示教器画面上出现的「下一页」键。3．项目示教器上的画面操作，显示各种项目，该手册将这些项目名称用[・・・]括起表示。例[基本设定]：表示从菜单选择的基本设定项目。选择该项目要用光标操作键操作，将光标置于选定的项目后，按下登录键，为了表达简洁，对此仅选择[・・・・・]。E系列控制器KawasakiRobotKLogic/KLadder操作说明书iv序言·······································ⅰ本书使用的符号···································ⅱ凡例········································ⅲ1.0KLogic/KLadder概略···························1-11.1KLogic概略································1-11.1.1KLogic的规格·······························1-11.1.2KLogic的画面显示·····························1-31.2KLadder概略·······························1-41.2.1KLadder的功能······························1-41.2.2KLadder的规格······························1-42.0KLogic··································2-12.1基本运算部································2-12.1.1基本运算部的助记·····························2-12.1.2基本运算部的程序·····························2-12.1.3基本运算部处理的信号种类·························2-22.1.4基本运算程序实行中的改写·························2-32.2数值运算部································2-42.2.1数值运算部的作用·····························2-42.2.2数值运算部的实行形式···························2-42.2.3数值运算程序的实行····························2-42.2.4数值运算部处理的信号种类·························2-42.3现场总线的信号分配····························2-52.4KLogic监控器·······························2-72.4.1KLogic监控器的启动方法··························2-72.4.2KLogic监控器画面的详细说明························2-92.4.2.1基本运算部监控器·····························2-92.4.2.2数值运算部监控器·····························2-102.5KLogic梯形显示······························2-112.5.1KLogic梯形显示的启动方法·························2-122.5.2KLogic梯形显示的详细···························2-132.5.2.1梯形显示画面的详细····························2-132.5.2.2信号检索画面·······························2-142.5.2.3步骤检索画面·······························2-172.6AS语言解说································2-18目录E系列控制器KawasakiRobotKLogic/KLadder操作说明书v2.6.1基本运算部命令······························2-192.6.1.1监控器指令································2-192.6.1.2程序命令·································2-262.6.1.2.1基本命令································2-262.6.1.2.2応用命令································2-372.6.2数值运算部命令······························2-772.6.2.1监控器指令································2-772.6.2.2基本运算部和数值运算部之间的接口命令···················2-813.0KLadder·································3-13.1安装和连接································3-13.1.1KLadder的动作环境····························3-13.1.2KLadder的安装步骤····························3-13.1.3与E控制器的连接方法···························3-43.1.3.1通过RS232C的连接····························3-43.1.3.2通过Ethernet(TCPIP)的连接························3-53.1.4通信模块的设定······························3-53.2基于KLadder的编程····························3-73.2.1打开文件·································3-73.2.2绘制电路(插入新模块)···························3-73.2.3配置符号·································3-83.2.3.1电路图的构成·······························3-103.2.4变更符号·································3-113.2.5绘制并联电路·······························3-123.2.5.1在同一模块内插入第2行··························3-123.2.5.2移动一整列符号······························3-133.2.5.3描画OR·································3-133.2.6移动复制数据·······························3-143.2.7变换数据·································3-153.2.8输入/编辑注释······························3-163.2.9输入/编辑寄存器·····························3-173.2.10一次变更·································3-183.2.10.1信号代码的一次变更····························3-183.2.10.2应用命令运算元的一次变更························3-203.2.10.3一次替换A、B接点····························3-223.2.11模块的核对································3-233.2.12检索··································3-243.2.13跳转··································3-253.2.14使用书签跳转······························3-25E系列控制器KawasakiRobotKLogic/KLadder操作说明书vi